STM32HAL库RS485-ModBus协议控制伺服电机

news/2024/11/16 3:19:09/

STM32HAL库RS485-ModBus协议控制伺服电机

一个月前，接手了一个学长的毕设小车，小车采用rs485通信的modbus协议驱动轮毂电机，与往常我学习的pwm控制电机方法大相径庭，在这里以这篇博客记录下该学习过程。

小车主要架构

image-20230422152803354

电机型号

中菱轮毂电机

轮毂驱动器ZLAC8015D

  • ZLAC8015D 的 RS485 支持 Modbus RTU 协议。
  • 驱动器地址为 0-127 可设，默认为 1；
  • 波特率 9600、19200、38400、57600、115200、128000、256000 等 7 种， 可通过软件设置。

默认 115200； 数据位 8，无奇偶校验，停止位 1

RS485通信

RS485接口组成的半双工网络，一般是两线制，多采用屏蔽双绞线传输，这种接线方式为总线式拓扑结构在同一总线上最多可以挂接32个结点。我们知道，最初数据是模拟信号输出简单过程量，后来仪表接口是RS232接口，这种接口可以实现点对点的通信方式，但这种方式不能实现联网功能，随后出现的RS485解决了这个问题。为此本文通过问答的形式详细介绍RS485接口。

RS485_RE为高电平的时候，DE为高电平有效，允许发送数据
RS485_RE为低电平的时候，RE为低电平有效，允许接收数据

485转换芯片可以把输入的串口信号转化成差分信号,也可以差分信号转化成串口信号

信号线A、B

A>B0
B>A1

STM32实现主从机RS485通信

STM32F103ZET6

RS485接口 A接A B接B

image-20230422180220414

从机：

RS485发送 “Hello World”

char Buff[30];
//*******************
while (1){/* USER CODE END WHILE */HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_SET); //拉高发送sprintf(Buff,"Hello World");HAL_UART_Transmit(&huart2, Buff, sizeof(Buff), 0xffff); HAL_Delay(500);/* USER CODE BEGIN 3 */}

主机：

RS485接收 “Hello World”

虚拟串口打印

HAL_UART_Receive_IT(&huart2, RxBuff,1);
HAL_GPIO_WritePin(GPIOD,GPIO_PIN_7, GPIO_PIN_RESET);  //拉低接收
//*******************************
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{uint8_t i;if(huart->Instance==USART2){HAL_UART_Receive_IT(&huart2,RxBuff,10);CDC_Transmit_FS(RxBuff, sizeof(RxBuff));}
}

image-20230417170911895

Modbus协议

Modbus就是一种用在工业上的简单协议!

大致分为以下几种:

  • Modbus-RTU
  • Modbus-ASCII
  • Modbus-TCP

以上三种协议，一个设备只会有一种协议，该电机使用的是Modbus-RTU。

Modbus是主从方式通信，也就是说，不能同步进行通信，总线上每次只有一个数据进行传输，即主机发送，从机应答，主机不发送，总线上就没有数据通信。

Modbus Poll主机Modbus Slave从机通信

第三方测试软件：vspd、Modbus Poll、Modbus Slave

虚拟一个串口

image-20230422151542599

image-20230422152049651

修改配置

image-20230422152532666

读取数据

发送

Tx:000024- 01 03 00 00 00 0A C5 CD

010300 0000 0AC5 CD
ID号功能码起始地址数据内容校验码

接收

Rx:000143- 01 03 0A 00 01 00 02 00 01 00 00 00 00 37 26

01030A00 01 00 02 00 01 00 00 00 0037 26
ID号功能码字节长度数据内容校验位

发送单条数据

010600 0400 0388 0A
ID号功能码起始地址数据内容校验码

image-20230422160343498

发送多条数据

主机TX：

ID功能码起始地址寄存器长度数据内容校验码
0116(0X10)00 0000 0510字节XX XX

Tx:001200- 01 10 00 03 00 01 02 00 04 A7 A0

ID功能码起始地址数据长度字节长度数据内容校验码
011000 0300 010200 04A7 A0

功能码：

  • 03->读取数据
  • 06->发送单条数据
  • 10->发送多条数据

SSCOM主机Modbus Slave从机通信

读取数据

image-20230422165736981

发送单条数据

image-20230422165911874

发送多条数据

image-20230422170213418

STM32通过RS485完成Modbus协议通信

移植Modbus协议

mbrtu_master.h

#ifndef MBRTU_MASTER_H_
#define MBRTU_MASTER_H_#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>
#include "mbrtu_master.h"
#include "usart.h"
#include "tim.h"/
///
/// MODBUS RTU 主机控制结构
///
///
typedef struct
{//// 收发数据缓存//uint8_t ucBuf[128];//// 收发数据状态//uint16_t usStatus;//// 如果使用了RTOS需要进行互斥,那么需要实现以下两个函数的绑定//void (*lock)(void);void (*unlock)(void);//// 微秒延时函数,用于等待超时//void (*delayms)(uint32_t nms);//// 定时器启动和停止函数//void (*timerStop)(void);void (*timerStart)(void);//// 发送数据函数,可以是串口、TCP等//uint32_t (*sendData)(const void* buf, uint32_t len);//// 以下四个回调函数分别是:读线圈、读离散量输入、读保持寄存器、读输入寄存器//void (*readCoilsCallback)(uint16_t usStartAddr, uint16_t usNum, const uint8_t* pucBitsOfCoilsState, uint16_t usLen);void (*readDiscreteInputsCallback)(uint16_t usStartAddr, uint16_t usNum, const uint8_t* pucBitsOfDiscreteInputsState, uint16_t usLen);void (*readHoldingRegistersCallback)(uint16_t usStartAddr, uint16_t usNum, const uint16_t* pusHoldingRegistersVal, uint16_t usLen);void (*readInputRegistersCallback)(uint16_t usStartAddr, uint16_t usNum, const uint16_t* pusInputRegistersVal, uint16_t usLen);}MBRTUMaterTypeDef;/
static void timerStop(void);
static void timerStart(void);
static void delayms(uint32_t nms);
static uint32_t sendData(const void *buf, uint32_t len);
static void readCoilsCallback(uint16_t usStartAddr, uint16_t usNum, const uint8_t *pucBitsOfCoilsState, uint16_t usLen);
static void readDiscreteInputsCallback(uint16_t usStartAddr, uint16_t usNum, const uint8_t *pucBitsOfDiscreteInputsState, uint16_t usLen);
static void readHoldingRegistersCallback(uint16_t usStartAddr, uint16_t usNum, const uint16_t *pusHoldingRegistersVal, uint16_t usLen);
static void readInputRegistersCallback(uint16_t usStartAddr, uint16_t usNum, const uint16_t *pusInputRegistersVal, uint16_t usLen);/
///
/// MODBUS RTU 主机 API
///
///
int MBRTUMasterReadCoils(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout);
int MBRTUMasterReadDiscreteInputs(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout);
int MBRTUMasterReadHoldingRegisters(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout);
int MBRTUMasterReadInputRegisters(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout);
int MBRTUMasterWriteSingleCoil(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint8_t ucState, uint16_t usTimeout);
int MBRTUMasterWriteSingleRegister(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usRegVal, uint16_t usTimeout);
int MBRTUMasterWriteMultipleCoils(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, const uint8_t* pucStateBitsBuf, uint16_t usTimeout);
int MBRTUMasterWriteMultipleRegisters(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, const uint16_t* pusRegVal, uint16_t usTimeout);/
///
/// MODBUS RTU 主机接收数据回调函数和超时回调函数
/// 
/// MBRTUMasterRecvByteISRCallback：放置于串口接收中断中
/// MBRTUMasterTimerISRCallback：放置于定时器超时中断中
///
void MBRTUMasterRecvByteISRCallback(MBRTUMaterTypeDef* psModbus, uint8_t ucByte);
void MBRTUMasterTimerISRCallback(MBRTUMaterTypeDef* psModbus);#endif /* MBRTU_MASTER_H_ */

mbrtu_master.c

/** mbrtu_master.c**  Created on: 2022年4月29日*      Author: hello*/#include "mbrtu_master.h"static uint16_t usMBCRC16(uint8_t *pucFrame, uint16_t usLen)
{static const uint8_t aucCRCHi[] ={0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40};static const uint8_t aucCRCLo[] ={0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,0x41, 0x81, 0x80, 0x40};uint8_t ucCRCHi = 0xFF;uint8_t ucCRCLo = 0xFF;int iIndex;while (usLen--){iIndex = ucCRCLo ^ *(pucFrame++);ucCRCLo = (uint8_t)(ucCRCHi ^ aucCRCHi[iIndex]);ucCRCHi = aucCRCLo[iIndex];}return (uint16_t)(ucCRCHi << 8 | ucCRCLo);
}//读取数据
static uint32_t MBRTUMasterRead(MBRTUMaterTypeDef *pMaster, uint8_t ucSlaveAddr, uint8_t ucCmd, uint16_t usStartAddr, uint16_t usNum)
{uint16_t crc;pMaster->ucBuf[0] = ucSlaveAddr;pMaster->ucBuf[1] = ucCmd;pMaster->ucBuf[2] = ((usStartAddr & 0XFF00) >> 8);pMaster->ucBuf[3] = (usStartAddr & 0XFF);pMaster->ucBuf[4] = ((usNum & 0XFF00) >> 8);pMaster->ucBuf[5] = (usNum & 0XFF);crc = usMBCRC16((uint8_t *)pMaster->ucBuf, 6);pMaster->ucBuf[6] = (uint8_t)(crc & 0xFF);pMaster->ucBuf[7] = (uint8_t)(crc >> 8);return pMaster->sendData(pMaster->ucBuf, 8);
}/*** 主机读取线圈状态* @param  ucSlaveAddress 从机地址* @param  usAddress      要读取的线圈起始地址* @param  usCmd          0x01* @param  usNum          要读取的线圈数量* @param  usTimeout      超时时间,单位毫秒* @return                0:成功  <0:执行失败*/
int MBRTUMasterReadCoils(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout)
{int ret = -1;int delay;if (psModbus->lock != NULL){psModbus->lock();}psModbus->usStatus = 0;MBRTUMasterRead(psModbus, ucSlaveAddress, 0X01, usAddress, usNum);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X01){psModbus->readCoilsCallback(usAddress, usNum, &psModbus->ucBuf[3], psModbus->ucBuf[2]);ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机读取离散量输入* @param  ucSlaveAddress 从机地址* @param  usAddress      要读取的离散量起始地址* @param  usCmd          0x02* @param  usNum          要读取的离散量数量* @param  usTimeout      超时时间,单位毫秒* @return                0:成功  <0:执行失败*/
int MBRTUMasterReadDiscreteInputs(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout)
{int ret = -1;int delay;if (psModbus->lock != NULL){psModbus->lock();}psModbus->usStatus = 0;MBRTUMasterRead(psModbus, ucSlaveAddress, 0X02, usAddress, usNum);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X02){psModbus->readDiscreteInputsCallback(usAddress, usNum, &psModbus->ucBuf[3], psModbus->ucBuf[2]);ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机读取保持寄存器!!!!!!!!!!!!* @param  ucSlaveAddress 从机地址* @param  usAddress      要读取的保持寄存器起始地址* @param  usCmd          0x03* @param  usNum          要读取的保持寄存器数量* @param  usTimeout      超时时间,单位毫秒* @return                0:成功  <0:执行失败*/
int MBRTUMasterReadHoldingRegisters(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout)
{int ret = -1;int delay;if (psModbus->lock != NULL){psModbus->lock();}psModbus->usStatus = 0;MBRTUMasterRead(psModbus, ucSlaveAddress, 0X03, usAddress, usNum);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X03){psModbus->readHoldingRegistersCallback(usAddress, usNum, (const uint16_t *)&psModbus->ucBuf[3], psModbus->ucBuf[2] >> 1);ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机读取输入寄存器* @param  ucSlaveAddress 从机地址* @param  usAddress      要读取的输入寄存器起始地址* @param  usCmd          0x04* @param  usNum          要读取的输入寄存器数量* @param  usTimeout      超时时间,单位毫秒* @return                0:成功  <0:执行失败*/
int MBRTUMasterReadInputRegisters(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout)
{int ret = -1;int delay;if (psModbus->lock != NULL){psModbus->lock();}psModbus->usStatus = 0;MBRTUMasterRead(psModbus, ucSlaveAddress, 0X04, usAddress, usNum);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X04){psModbus->readInputRegistersCallback(usAddress, usNum, (const uint16_t *)&psModbus->ucBuf[3], psModbus->ucBuf[2] >> 1);ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机写单个线圈* @param  ucSlaveAddress 从机地址* @param  usAddress      线圈地址* @param  usCmd          0x05* @param  ucState        要设置的线圈状态，1或者0* @param  usTimeout      超时时间,单位毫秒* @return                0:成功  <0:执行失败*/int MBRTUMasterWriteSingleCoil(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint8_t ucState, uint16_t usTimeout)
{int ret = -1;int delay;uint16_t crc;if (psModbus->lock != NULL){psModbus->lock();}psModbus->ucBuf[0] = ucSlaveAddress;psModbus->ucBuf[1] = 0X05;psModbus->ucBuf[2] = usAddress & 0XFF;psModbus->ucBuf[3] = usAddress >> 8;psModbus->ucBuf[4] = ucState ? 0XFF : 0X00;psModbus->ucBuf[5] = 0X00;crc = usMBCRC16((uint8_t *)psModbus->ucBuf, 6);psModbus->ucBuf[6] = (uint8_t)(crc & 0xFF);psModbus->ucBuf[7] = (uint8_t)(crc >> 8);psModbus->usStatus = 0;psModbus->sendData(psModbus->ucBuf, 8);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X05){ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机写单个寄存器!!!!!!!!!!!* @param  ucSlaveAddress 从机地址* @param  usAddress      寄存器地址* @param  usCmd          0x06* @param  usRegVal       寄存器值* @param  usTimeout      超时时间,单位毫秒* @return                0:成功  <0:执行失败*/
//	MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, RUN_MODE_ADDR, 0x0003, 100);
int MBRTUMasterWriteSingleRegister(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usRegVal, uint16_t usTimeout)
{int ret = -1;int delay;uint16_t crc;if (psModbus->lock != NULL){psModbus->lock();}psModbus->ucBuf[0] = ucSlaveAddress;psModbus->ucBuf[1] = 0X06;psModbus->ucBuf[2] = usAddress & 0XFF;psModbus->ucBuf[3] = usAddress >> 8;psModbus->ucBuf[4] = usRegVal >> 8;psModbus->ucBuf[5] = usRegVal & 0XFF;crc = usMBCRC16((uint8_t *)psModbus->ucBuf, 6);psModbus->ucBuf[6] = (uint8_t)(crc & 0xFF);psModbus->ucBuf[7] = (uint8_t)(crc >> 8);psModbus->usStatus = 0;psModbus->sendData(psModbus->ucBuf, 8);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X06){ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机写多个线圈状态* @param  ucSlaveAddress  从机地址* @param  usAddress       线圈起始地址* @param  usNum           要写的线圈数量* @param  pucStateBitsBuf 存放线圈状态，1比特代表一个线圈状态* @param  usTimeout      超时时间,单位毫秒* @return                0:成功  <0:执行失败*/
int MBRTUMasterWriteMultipleCoils(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, const uint8_t *pucStateBitsBuf, uint16_t usTimeout)
{int ret = -1;int delay;uint16_t crc;uint16_t usIndex = 0, usBytes = 0;if (psModbus->lock != NULL){psModbus->lock();}psModbus->ucBuf[usIndex++] = ucSlaveAddress;psModbus->ucBuf[usIndex++] = 0X0F;psModbus->ucBuf[usIndex++] = usAddress & 0XFF;psModbus->ucBuf[usIndex++] = usAddress >> 8;psModbus->ucBuf[usIndex++] = usNum >> 8;psModbus->ucBuf[usIndex++] = usNum & 0XFF;usBytes = (usNum - 1) / 8 + 1;psModbus->ucBuf[usIndex++] = usBytes;while (usBytes--){psModbus->ucBuf[usIndex++] = *pucStateBitsBuf++;}crc = usMBCRC16((uint8_t *)psModbus->ucBuf, usIndex);psModbus->ucBuf[usIndex++] = (uint8_t)(crc & 0xFF);psModbus->ucBuf[usIndex++] = (uint8_t)(crc >> 8);psModbus->usStatus = 0;psModbus->sendData(psModbus->ucBuf, usIndex);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X0F){ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机写多个寄存器!!!!!!!!!!!* @param  ucSlaveAddress 从机地址* @param  usAddress      要写的寄存器起始地址* @param  usCmd          0x10* @param  usNum          要写的寄存器数量* @param  pusRegVal      存放要写的寄存器值* @param  usTimeout      超时时间,单位毫秒* @return                0:成功  <0:执行失败*/
int MBRTUMasterWriteMultipleRegisters(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, const uint16_t *pusRegVal, uint16_t usTimeout)
{int ret = -1;int delay;uint16_t crc;uint16_t usIndex = 0;if (psModbus->lock != NULL){psModbus->lock();}psModbus->ucBuf[usIndex++] = ucSlaveAddress;psModbus->ucBuf[usIndex++] = 0X10;psModbus->ucBuf[usIndex++] = usAddress & 0XFF;psModbus->ucBuf[usIndex++] = usAddress >> 8;psModbus->ucBuf[usIndex++] = usNum >> 8;psModbus->ucBuf[usIndex++] = usNum & 0XFF;psModbus->ucBuf[usIndex++] = usNum << 1;while (usNum--){psModbus->ucBuf[usIndex++] = *pusRegVal >> 8;psModbus->ucBuf[usIndex++] = *pusRegVal & 0XFF;pusRegVal++;}crc = usMBCRC16((uint8_t *)psModbus->ucBuf, usIndex);psModbus->ucBuf[usIndex++] = (uint8_t)(crc & 0xFF);psModbus->ucBuf[usIndex++] = (uint8_t)(crc >> 8);psModbus->usStatus = 0;psModbus->sendData(psModbus->ucBuf, usIndex);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X10){ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}void MBRTUMasterRecvByteISRCallback(MBRTUMaterTypeDef *psModbus, uint8_t ucByte)
{psModbus->timerStop();if (psModbus->usStatus < sizeof(psModbus->ucBuf)){psModbus->ucBuf[psModbus->usStatus++] = ucByte;psModbus->timerStart();}else{psModbus->usStatus |= 0X8000;}
}void MBRTUMasterTimerISRCallback(MBRTUMaterTypeDef *psModbus)
{psModbus->timerStop();psModbus->usStatus |= 0X8000;
}#ifdef USE_RTOSstatic void mutex_lock(void)
{
}static void mutex_unlock(void)
{
}#endifstatic void timerStop(void)
{HAL_TIM_Base_Stop_IT(&htim3);
}static void timerStart(void)
{__HAL_TIM_SET_COUNTER(&htim3, 0);HAL_TIM_Base_Start_IT(&htim3);
}static void delayms(uint32_t nms)
{HAL_Delay(nms);
}static uint32_t sendData(const void *buf, uint32_t len)
{if (HAL_UART_Transmit(&huart2, (uint8_t *)buf, len, 100) != HAL_OK){len = 0;}return len;
}static void readCoilsCallback(uint16_t usStartAddr, uint16_t usNum, const uint8_t *pucBitsOfCoilsState, uint16_t usLen)
{uint8_t ucLoops = (usNum - 1) / 8 + 1;uint8_t ucState, ucBits;printf(" Read %d coils starting at start address %d: ", usNum, usStartAddr);while (ucLoops != 0){ucState = *pucBitsOfCoilsState++;ucBits = 0;while (usNum != 0 && ucBits < 8){printf("%d ", ucState & 0X01 ? 1 : 0);ucState >>= 1;usNum--;ucBits++;}ucLoops--;}printf("\r\n");
}static void readDiscreteInputsCallback(uint16_t usStartAddr, uint16_t usNum, const uint8_t *pucBitsOfDiscreteInputsState, uint16_t usLen)
{uint8_t ucLoops = (usNum - 1) / 8 + 1;uint8_t ucState, ucBits;printf(" Read %d discrete inputs starting at start address %d: ", usNum, usStartAddr);while (ucLoops != 0){ucState = *pucBitsOfDiscreteInputsState++;ucBits = 0;while (usNum != 0 && ucBits < 8){printf("%d ", ucState & 0X01 ? 1 : 0);ucState >>= 1;usNum--;ucBits++;}ucLoops--;}printf("\r\n");
}static void readHoldingRegistersCallback(uint16_t usStartAddr, uint16_t usNum, const uint16_t *pusHoldingRegistersVal, uint16_t usLen)
{uint16_t val;printf(" Read %d hold registers starting at start address %d: ", usNum, usStartAddr);while (usLen--){val = *pusHoldingRegistersVal++;val = ((val & 0X00FF) << 8) | ((val & 0XFF00) >> 8); // 转换大小端printf("%04X ", val);}printf("\r\n");
}static void readInputRegistersCallback(uint16_t usStartAddr, uint16_t usNum, const uint16_t *pusInputRegistersVal, uint16_t usLen)
{uint16_t val;printf(" Read %d input registers starting at start address %d: ", usNum, usStartAddr);while (usLen--){val = *pusInputRegistersVal++;val = ((val & 0X00FF) << 8) | ((val & 0XFF00) >> 8); // 转换大小端printf("%04X ", val);}printf("\r\n");
}MBRTUMaterTypeDef MBRTUHandle ={.delayms = delayms,.timerStart = timerStart,.timerStop = timerStop,.sendData = sendData,.readCoilsCallback = readCoilsCallback,.readDiscreteInputsCallback = readDiscreteInputsCallback,.readHoldingRegistersCallback = readHoldingRegistersCallback,.readInputRegistersCallback = readInputRegistersCallback,#ifdef USE_RTOS // 使用了RTOS那么需要实现互斥.lock = mutex_lock,.unlock = mutex_unlock,
#endif};

main.c

TX

extern MBRTUMaterTypeDef MBRTUHandle;
void main(){
/*.............*/while (1){/* USER CODE END WHILE *//* USER CODE BEGIN 3 */HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_SET); //拉高发送MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 6, 0X0501, 100);HAL_Delay(1000);}}

STM32主机Modbus Slave从机通信

#include "mbrtu_master.h"extern MBRTUMaterTypeDef MBRTUHandle;
for(j=0; j<=255;j++) {for(i=0;i<=8;i++) {MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, i, j, 100);HAL_Delay(1000);}
}

STM32按键控制发送ZLAC8015D电机指令

      if (HAL_GPIO_ReadPin(WK_UP_GPIO_Port, WK_UP_Pin) == 1) {/*延时一小段时间，消除抖动*/HAL_Delay(10);/*延时时间后再来判断按键状态，如果还是按下状态说明按键确实被按下*/if (HAL_GPIO_ReadPin(WK_UP_GPIO_Port, WK_UP_Pin) == 1) {/*等待按键弹开才退出按键扫描函数*/while (HAL_GPIO_ReadPin(WK_UP_GPIO_Port, WK_UP_Pin) == 1);MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X200D, 0x0003, 100);//                MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X2088, 0X0064, 100);}}if (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == 0) {/*延时一小段时间，消除抖动*/HAL_Delay(10);/*延时时间后再来判断按键状态，如果还是按下状态说明按键确实被按下*/if (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == 0) {/*等待按键弹开才退出按键扫描函数*/while (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == 0);MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X200E, 0x0008, 100);HAL_Delay(10);MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X200E, 0x0010, 100);}}if (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == 0) {/*延时一小段时间，消除抖动*/HAL_Delay(10);/*延时时间后再来判断按键状态，如果还是按下状态说明按键确实被按下*/if (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == 0) {/*等待按键弹开才退出按键扫描函数*/while (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == 0);MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X2088, 0X0064, 100);
//                HAL_Delay(10);MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X2089, 0X0064, 100);HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_5);}}}

指令依次是

设置速度模式

使能

电机同步启动

设置左电机目标转速100RPM

设置右点击目标转速100RPM

、image-20230430183058256

image-20230429183327552


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